Can't run ROS Navigation example with 2022.1

hpf9017 · June 7, 2022, 4:45am

2022-06-07 04:38:39 [32,115ms] [Error] [carb.flatcache.plugin] Error: UsdRelationship /World/Carter_ROS/ActionGraph/ros1_publish_transform_tree_01.inputs:targetPrims has multiple targets, which is not supported

2022-06-07 04:38:39 [32,245ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::core_nodes v1.0] (plugin: (null)), by client: omni.isaac.core_nodes. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2022-06-07 04:38:39 [32,352ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:angularVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-06-07 04:38:39 [32,352ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:linearVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-06-07 04:38:39 [32,353ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:jointNames’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-06-07 04:38:39 [32,353ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames

At:
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): setattr
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(218): initialize

2022-06-07 04:38:39 [32,354ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::core_nodes v1.0] (plugin: (null)), by client: omni.isaac.core_nodes. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2022-06-07 04:38:40 [32,461ms] [Warning] [carb.flatcache.plugin] Error: array of rel not yet supported
2022-06-07 04:38:40 [32,461ms] [Error] [carb.flatcache.plugin] Error: /World/Carter_ROS/ActionGraph/make_array.__resolved_outputs:array UsdRelationship not supported in GetPrimArrayAttr

2022-06-07 04:38:46 [39,321ms] [Warning] [gpu.foundation.plugin] Requesting texture to use texture streaming, but the service isn’t available.The texture will be created as a regular resource.

vdesale · June 8, 2022, 5:20am

this errors are expected and can be ignored as per known issues in errors section: 8 in docs. Anyways you should able to run ROS navigation tutorial without any issue. Please let me know if you find any other issue.

eliabntt94 · June 8, 2022, 1:46pm

Hi @vdesale. I do have some issues

the major ones are:

RosBridgeUsePhysicsStepSimTime is missing [although this seems to be the default behaviour]
cannot manually step the camera. The following code is not working:

{
            "graph_path": "/ROSCamera",
            "evaluator_name": "execution",
        },
        {
            og.Controller.Keys.CREATE_NODES: [
                ("OnImpulseEvent", "omni.graph.action.OnImpulseEvent"),
                ("cameraHelperRgb", "omni.isaac.ros_bridge.ROS1CameraHelper"),
                ("cameraHelperDepth", "omni.isaac.ros_bridge.ROS1CameraHelper"),
                ("cameraHelperInfo", "omni.isaac.ros_bridge.ROS1CameraHelper"),
            ],
            og.Controller.Keys.CONNECT: [
                ("OnImpulseEvent.outputs:execOut", "cameraHelperRgb.inputs:execIn"),
                ("OnImpulseEvent.outputs:execOut", "cameraHelperDepth.inputs:execIn"),
                ("OnImpulseEvent.outputs:execOut", "cameraHelperInfo.inputs:execIn"),
            ],
            og.Controller.Keys.SET_VALUES: [
                ("cameraHelperRgb.inputs:viewport", viewport_name),
                ("cameraHelperDepth.inputs:viewport", viewport_name),
                ("cameraHelperInfo.inputs:viewport", viewport_name),

                ("cameraHelperRgb.inputs:frameId", path[1:]),
                ("cameraHelperRgb.inputs:topicName", path + f"/rgb/image_raw"),
                ("cameraHelperRgb.inputs:type", "rgb"),

                ("cameraHelperDepth.inputs:frameId", path[1:]),
                ("cameraHelperDepth.inputs:topicName", path + f"/depth/image_raw"),
                ("cameraHelperDepth.inputs:type", "depth"),

                ("cameraHelperInfo.inputs:frameId", path[1:]),
                ("cameraHelperInfo.inputs:topicName", path + f"/camera_info"),
                ("cameraHelperInfo.inputs:type", "camera_info"),
            ],
        },

Theoretically, with the above code I can use impulses to publish the ros cameras. However, every time I call render a new frame is being generated for ros.

can you please help me? or perhaps ping one of your colleagues. Unfortunatly, the update changed a lot of stuff without deprecating the old one (like for example “viewport_legacy”).

ltorabi · June 14, 2022, 2:56pm

ayushg@nvidia.com

Ayush_G · June 30, 2022, 9:28pm

Hi @eliabntt94,

Yes the simulation time is now always in sync with physics time. In our ROS Bridge, each ROS#Publish OmniGraph node contains a Timestamp input where you can either feed a custom timestamp or connect the output of the IsaacReadSimulationTime node.
For camera sensors a separate post-process Synthetic Data Generation pipeline graph is required that is auto-generated by the ROS1 Camera Helper node. This SDGPipeline graph by default runs each render step. However, OmniGraph nodes can be modified or added into this SDGPipeline graph to manually control the image publishers. Please refer to the ROS Bridge Image Publishing section of our new Migration Tutorial for the full details.

Hope this helps! Please let us know if you face any other issues.

eliabntt94 · June 30, 2022, 9:57pm

That’s beautiful. I’ll take at look at it hopefully at the end of the week! Thanks!

omers · October 24, 2022, 2:12pm

The navigation example isn’t working for me either, it causes Isaac Sim to stop responding when trying to load it.
These are the errors I am getting:

2022-10-24 14:09:16 [13,554ms] [Error] [omni.graph] Tried to set a value on AttributeData 'inputs:jointNames' of type 'token' with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-10-24 14:09:16 [13,554ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames

At:
  /home/amram/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
  /home/amram/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
  /home/amram/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): __setattr__
  /home/amram/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(219): initialize

2022-10-24 14:09:16 [13,555ms] [Error] [omni.graph] Tried to set a value on AttributeData 'inputs:angularVelocity' of type 'token' with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-10-24 14:09:16 [13,555ms] [Error] [omni.graph] Tried to set a value on AttributeData 'inputs:linearVelocity' of type 'token' with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-10-24 14:09:16 [13,632ms] [Warning] [carb.flatcache.plugin] Error: array of rel not yet supported
2022-10-24 14:09:16 [13,632ms] [Error] [carb.flatcache.plugin] Error: /World/Carter_ROS/ActionGraph/make_array.__resolved_outputs:array UsdRelationship not supported in GetPrimArrayAttr

maghaoko · January 7, 2023, 3:53am

Were you able to resolve this issue? I am encountering the same error in my work. @omers

omers · January 8, 2023, 3:10pm

No :( but maybe with the new Isaac sim it might work, haven’t tried

rthaker · March 28, 2023, 3:02am

Hi - Sorry for the delay in the response. Let us know if you still having this issue with the latest Isaac Sim 2022.2.1 release.

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Can't run ROS Navigation example with 2022.1

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